Mutual interferences and design principles for mechatronic devices in magnetic resonance imaging

Purpose: Robotic and mechatronic devices that work compatibly with magnetic resonance imaging (MRI) are applied in diagnostic MRI, image-guided surgery, neurorehabilitation and neuroscience. MRI-compatible mechatronic systems must address the challenges imposed by the scanner's electromagnetic fields. We have developed objective quantitative evaluation criteria for device characteristics needed to formulate design guidelines that ensure MRI-compatibility based on safety, device functionality and image quality. Methods: The mutual interferences between an MRI system and mechatronic devices working in its vicinity are modeled and tested. For each interference, the involved components are listed, and a numerical measure for "MRI-compatibility” is proposed. These interferences are categorized into an MRI-compatibility matrix, with each element representing possible interactions between one part of the mechatronic system and one component of the electromagnetic fields. Based on this formulation, design principles for MRI-compatible mechatronic systems are proposed. Furthermore, test methods are developed to examine whether a mechatronic device indeed works without interferences within an MRI system. Finally, the proposed MRI-compatibility criteria and design guidelines have been applied to an actual design process that has been validated by the test procedures. Results: Objective and quantitative MRI-compatibility measures for mechatronic and robotic devices have been established. Applying the proposed design principles, potential problems in safety, device functionality and image quality can be considered in the design phase to ensure that the mechatronic system will fulfill the MRI-compatibility criteria. Conclusion: New guidelines and test procedures for MRI instrument compatibility provide a rational basis for design and evaluation of mechatronic devices in various MRI applications. Designers can apply these criteria and use the tests, so that MRI-compatibility results can accrue to build an experiential databas

Multi-Sensory and Sensorimotor Foundation of Bodily Self-Consciousness – An Interdisciplinary Approach

Scientific investigations on the nature of the self have so far focused on high-level mechanisms. Recent evidence, however, suggests that low-level bottom-up mechanisms of multi-sensory integration play a fundamental role in encoding specific components of bodily self-consciousness, such as self-location and first-person perspective (Blanke and Metzinger, 2009). Self-location and first-person perspective are abnormal in neurological patients suffering from out-of-body experiences (Blanke et al., 2004), and can be manipulated experimentally in healthy subjects by imposing multi-sensory conflicts (Lenggenhager et al., 2009). Activity of the temporo-parietal junction (TPJ) reflects experimentally induced changes in self-location and first-person perspective (Ionta et al., 2011), and dysfunctions in TPJ are causally associated with out-of-body experiences (Blanke et al., 2002). We argue that TPJ is one of the key areas for multi-sensory integration of bodily self-consciousness, that its levels of activity reflect the experience of the conscious “I” as embodied and localized within bodily space, and that these mechanisms can be systematically investigated using state of the art technologies such as robotics, virtual reality, and non-invasive neuroimaging

The Six Hug Commandments: Design and Evaluation of a Human-Sized Hugging Robot with Visual and Haptic Perception

Receiving a hug is one of the best ways to feel socially supported, and the lack of social touch can have severe negative effects on an individual's well-being. Based on previous research both within and outside of HRI, we propose six tenets ("commandments") of natural and enjoyable robotic hugging: a hugging robot should be soft, be warm, be human sized, visually perceive its user, adjust its embrace to the user's size and position, and reliably release when the user wants to end the hug. Prior work validated the first two tenets, and the final four are new. We followed all six tenets to create a new robotic platform, HuggieBot 2.0, that has a soft, warm, inflated body (HuggieChest) and uses visual and haptic sensing to deliver closed-loop hugging. We first verified the outward appeal of this platform in comparison to the previous PR2-based HuggieBot 1.0 via an online video-watching study involving 117 users. We then conducted an in-person experiment in which 32 users each exchanged eight hugs with HuggieBot 2.0, experiencing all combinations of visual hug initiation, haptic sizing, and haptic releasing. The results show that adding haptic reactivity definitively improves user perception a hugging robot, largely verifying our four new tenets and illuminating several interesting opportunities for further improvement.Comment: 9 pages, 6 Figures, 2 Tables, ACM/IEEE Human-Robot Interaction (HRI) Conference 202

The modulatory effect of self-paced and cued motor execution on subthalamic beta-bursts in Parkinson's disease: Evidence from deep brain recordings in humans

Deep brain stimulation (DBS) electrodes provide an unparalleled window to record and investigate neuronal activity right at the core of pathological brain circuits. In Parkinson's disease (PD), basal ganglia beta-oscillatory activity (13-35 Hz) seems to play an outstanding role. Conventional DBS, which globally suppresses beta-activity, does not meet the requirements of a targeted treatment approach given the intricate interplay of physiological and pathological effects of beta-frequencies. Here, we wanted to characterise the local field potential (LFP) in the subthalamic nucleus (STN) in terms of beta-burst prevalence, amplitude and length between movement and rest as well as during self-paced as compared to goal-directed motor control. Our electrophysiological recordings from externalised DBS-electrodes in nine patients with PD showed a marked decrease in beta-burst durations and prevalence during movement as compared to rest as well as shorter and less frequent beta-bursts during cued as compared to self-paced movements. These results underline the importance of beta-burst modulation in movement generation and are in line with the clinical observation that cued motor control is better preserved than self-paced movements. Furthermore, our findings motivate the use of adaptive DBS based on beta-bursts, which selectively trim longer beta-bursts, as it is more suitable and efficient over a range of motor behaviours than conventional DBS

Brain network for small-scale features in active touch

An important tactile function is the active detection of small-scale features, such as edges or asperities, which depends on fine hand motor control. Using a resting-state fMRI paradigm, we sought to identify the functional connectivity of the brain network engaged in mapping tactile inputs to and from regions engaged in motor preparation and planning during active touch. Human participants actively located small-scale tactile features that were rendered by a computer-controlled tactile display. To induce rapid perceptual learning, the contrast between the target and the surround was reduced whenever a criterion level of success was achieved, thereby raising the task difficulty. Multiple cortical and subcortical neural connections within a parietal-cerebellar-frontal network were identified by correlating behavioral performance with changes in functional connectivity. These cortical areas reflected perceptual, cognitive, and attention-based processes required to detect and use small-scale tactile features for hand dexterity

Development of a cognitive robotic system for simple surgical tasks

The introduction of robotic surgery within the operating rooms has significantly improved the quality of many surgical procedures. Recently, the research on medical robotic systems focused on increasing the level of autonomy in order to give them the possibility to carry out simple surgical actions autonomously. This paper reports on the development of technologies for introducing automation within the surgical workflow. The results have been obtained during the ongoing FP7 European funded project Intelligent Surgical Robotics (I-SUR). The main goal of the project is to demonstrate that autonomous robotic surgical systems can carry out simple surgical tasks effectively and without major intervention by surgeons. To fulfil this goal, we have developed innovative solutions (both in terms of technologies and algorithms) for the following aspects: fabrication of soft organ models starting from CT images, surgical planning and execution of movement of robot arms in contact with a deformable environment, designing a surgical interface minimizing the cognitive load of the surgeon supervising the actions, intra-operative sensing and reasoning to detect normal transitions and unexpected events. All these technologies have been integrated using a component-based software architecture to control a novel robot designed to perform the surgical actions under study. In this work we provide an overview of our system and report on preliminary results of the automatic execution of needle insertion for the cryoablation of kidney tumours

Illusory Body Ownership Affects the Cortical Response to Vicarious Somatosensation

Fundamental human feelings such as body ownership (“this” body is “my” body) and vicariousness (first-person-like experience of events occurring to others) are based on multisensory integration. Behavioral links between body ownership and vicariousness have been shown, but the neural underpinnings remain largely unexplored. To fill this gap, we investigated the neural effects of altered body ownership on vicarious somatosensation. While recording functional brain imaging data, first, we altered participants’ body ownership by robotically delivering tactile stimulations (“tactile” stroking) in synchrony or not with videos of a virtual hand being brushed (“visual” stroking). Then, we manipulated vicarious somatosensation by showing videos of the virtual hand being touched by a syringe’s plunger (touch) or needle (pain). Only after the alteration of body ownership (synchronous visuo-tactile stroking) and specifically during late epochs of vicarious somatosensation, vicarious pain was associated with lower activation in premotor and anterior cingulate cortices with respect to vicarious touch. At the methodological level, the present study highlights the importance of the neural response’s temporal evolution. At the theoretical level, it shows that the higher-level (cognitive) impact of a lower-level (sensory) body-related processing (visuo-tactile) is not limited to body ownership but also extends to other psychological body-related domains, such as vicarious somatosensation

Characterizing reproducibility of cerebral hemodynamic responses when applying short-channel regression in functional near-infrared spectroscopy

Significance: Functional near-infrared spectroscopy (fNIRS) enables the measurement of brain activity noninvasively. Optical neuroimaging with fNIRS has been shown to be reproducible on the group level and hence is an excellent research tool, but the reproducibility on the single-subject level is still insufficient, challenging the use for clinical applications. Aim: We investigated the effect of short-channel regression (SCR) as an approach to obtain fNIRS measurements with higher reproducibility on a single-subject level. SCR simultaneously considers contributions from long- and short-separation channels and removes confounding physiological changes through the regression of the short-separation channel information. Approach: We performed a test-retest study with a hand grasping task in 15 healthy subjects using a wearable fNIRS device, optoHIVE. Relevant brain regions were localized with transcranial magnetic stimulation to ensure correct placement of the optodes. Reproducibility was assessed by intraclass correlation, correlation analysis, mixed effects modeling, and classification accuracy of the hand grasping task. Further, we characterized the influence of SCR on reproducibility. Results: We found a high reproducibility of fNIRS measurements on a single-subject level ( and correlation ). SCR increased the reproducibility from 0.64 to 0.81 ( ) but did not affect classification (85% overall accuracy). Significant intersubject variability in the reproducibility was observed and was explained by Mayer wave oscillations and low raw signal strength. The raw signal-to-noise ratio (threshold at 40 dB) allowed for distinguishing between persons with weak and strong activations. Conclusions: We report, for the first time, that fNIRS measurements are reproducible on a single-subject level using our optoHIVE fNIRS system and that SCR improves reproducibility. In addition, we give a benchmark to easily assess the ability of a subject to elicit sufficiently strong hemodynamic responses. With these insights, we pave the way for the reliable use of fNIRS neuroimaging in single subjects for neuroscientific research and clinical applications

Neuro-cognitive effects of degraded visibility on illusory body ownership

Based on visuo-tactile stimulation, the rubber hand illusion induces a sense of ownership for a dummy hand. Manipulating the visibility of the dummy hand during the stimulation influences cognitive aspects of the illusion, suggesting that the related brain activity may be influenced too. To test this, we analyzed brain activity (fMRI), subjective ratings, and skin conductance from 45 neurotypical participants undergoing a modified rubber hand illusion protocol where we manipulated the visibility (high, medium, and low) of a virtual hand, not the brush (virtual hand illusion; VHI). To further investigate the impact of visibility manipulations on VHI-related secondary effects (i.e. vicarious somatosensation), we recorded brain activity and skin conductance during a vicarious pain protocol (observation of painful stimulations of the virtual hand) that occurred after the VHI procedure. Results showed that, during both the VHI and vicarious pain periods, the activity of distinct visual, somatosensory, and motor brain regions was modulated by (i) visibility manipulations, (ii) coherence between visual and tactile stimulation, and (iii) time of visuo-tactile stimulation. Accordingly, embodiment-related subjective ratings of the perceived illusion were specifically influenced by visibility manipulations. These findings suggest that visibility modifications can impact the neural and cognitive effects of illusory body ownership, in that when visibility decreases the illusion is perceived as weaker and the brain activity in visual, motor, and somatosensory regions is overall lower. We interpret this evidence as a sign of the weight of vision on embodiment processes, in that the cortical and subjective aspects of illusory body ownership are weakened by a degradation of visual input during the induction of the illusion